CN110954009B - Hub end face deformation detection method and device - Google Patents
Hub end face deformation detection method and device Download PDFInfo
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Abstract
The invention discloses a hub end face deformation detection method and a device thereof, which relate to the technical field of vehicle detection and comprise the following steps: rotating the hub for at least one circle, and measuring the outer end face of the hub to obtain M groups of three-dimensional coordinate data, wherein the M groups are multiple, each group of data comprises N data, and the Z-axis coordinate perpendicular to the side face of the hub is measured by a laser measuring device; selecting P data as a group from the N data to obtain N-P +1 group data, wherein P is less than or equal to N, and performing straight line fitting on the data in each group of the N-P +1 group data to obtain a straight line with the minimum straight line slope; averaging data of a group of lines constituting a line having the smallest slope of the line as a value of the Z axis in the group of three-dimensional coordinate data; and so on. According to the method and the device, accurate wheel hub end face deformation with high reliability can be obtained through a large amount of data of the wheel hub end face measured by laser.
Description
Technical Field
The invention relates to the technical field of vehicle detection, in particular to a hub end face deformation detection method and a hub end face deformation detection device.
Background
The automobile hub belongs to an important component of the wheel, and the safety performance and the mechanical property of the automobile hub have important influence on the safe operation of an automobile, so that the automobile hub has important significance in detecting the deformation of the end face of the automobile hub. At present, most methods for measuring the automobile hub are direct measurement by contact dial indicators, and the detection mode is slow in test speed and low in test precision and is difficult to meet the production requirements of a production line. At present, laser ranging is also adopted to detect the deformation of the end face of the automobile hub, but the laser ranging is the distance of a certain point on the end face of the automobile hub, and the certain point on the end face of the automobile hub may have a tiny bulge or a concave hole and the like, but the laser ranging does not really cause the deformation of the end face of the automobile hub. Therefore, these points cannot accurately and truly reflect the deformation condition of a certain point on the end surface of the automobile hub, but because some special reasons cause the certain point to be convex or concave relative to the surrounding end surface, if the deformation amount of the end surface of the automobile hub is finally calculated by directly acquiring the distance including the points under the above conditions, the reliability and accuracy of the obtained deformation amount may be low.
Disclosure of Invention
In order to overcome the above-mentioned defects in the prior art, embodiments of the present invention provide a method and an apparatus for detecting deformation of a hub end face, which can obtain an accurate and reliable amount of deformation of the hub end face through a large amount of data of the hub end face measured by laser.
The specific technical scheme of the embodiment of the invention is as follows:
a hub end face deformation detection method comprises the following steps:
rotating the hub for at least one circle, and measuring the outer end face of the hub to obtain M groups of three-dimensional coordinate data, wherein the M groups are multiple, each group of data comprises N data, and the Z-axis coordinate perpendicular to the side face of the hub is measured by a laser measuring device;
selecting P data as a group from the N data to obtain N-P +1 group data, wherein P is less than or equal to N, and performing straight line fitting on the data in each group of the N-P +1 group data to obtain a straight line with the minimum straight line slope;
averaging data of a group of lines constituting a line having the smallest slope of the line as a value of the Z axis in the group of three-dimensional coordinate data;
selecting a Z-axis numerical value in Q sets of three-dimensional coordinate data under the condition of one circle of the hub from the M sets of three-dimensional coordinate data, wherein Q is less than or equal to M, and fitting the Z-axis numerical value in the Q sets of three-dimensional coordinate data to obtain a plane equation;
respectively calculating the distance from the numerical value of the Z axis in the Q groups of three-dimensional coordinate data to a plane represented by a plane equation in the Z direction, and finding out the maximum distance dmax and the minimum distance dmin;
and calculating the end face deformation according to the maximum distance dmax and the minimum distance dmin.
Preferably, in the step of performing straight line fitting on the data in each group of the N-P +1 group of data to obtain a straight line with the minimum slope, performing straight line fitting on the data in each group of the N-P +1 group of data by using a least square method to obtain a fitted straight line equation, and then selecting the straight line with the minimum slope in the fitted straight line equation.
Preferably, the process of fitting a straight line to the data in each group of the N-P +1 group data by using the least square method to obtain a fitted straight line equation is as follows:
let the fitted linear equation be: y ═ ax + b, (x)1,y1),(x2,y2)...(xn,yn) Wherein x is1To xnRepresenting the data of the order, y1To ynA value representing the Z-axis in the data;
(x1,y1),(x2,y2)...(xn,yn) The sum of the squared deviations of (a) is:
and respectively carrying out derivation on the a and the b to obtain the following equations:
and solving the equation to obtain specific numerical values of a and b, and further obtaining a fitted linear equation.
Preferably, in the step of selecting the Z-axis value in the Q sets of three-dimensional coordinate data under one circle of the hub from the M sets of three-dimensional coordinate data, the following are provided:
a bar code is arranged on the outer ring of the hub, and the bar code can be scanned by a bar code scanner when the laser measuring device measures data in the rotating process of the hub; when the bar code scanner scans the codes, the corresponding position of the motor encoder under the bar code is recorded at the moment, and the Z-axis numerical value in Q groups of three-dimensional coordinate data of one week is selected from M groups of three-dimensional coordinate data according to the angle position of the hub corresponding to the three-dimensional coordinate data.
Preferably, a plurality of bar codes are arranged on the hub outer ring along a preset length in the circumferential direction; when the hub rotates for at least one week, when the barcode scanner finishes scanning, the corresponding position of the motor encoder under the barcode is recorded at the moment, and the Z-axis numerical value of the hub in the Q groups of three-dimensional coordinate data of the previous week is selected from the M groups of three-dimensional coordinate data according to the angular position of the hub corresponding to the three-dimensional coordinate data and the corresponding position when the barcode scanner finishes scanning.
Preferably, in the step of fitting the Z-axis values in the Q sets of three-dimensional coordinate data to obtain the plane equation, the Z-axis values in the Q sets of three-dimensional coordinate data are fitted by using a least square method to obtain the plane equation.
Preferably, the specific process of fitting the Z-axis values in the Q sets of three-dimensional coordinate data by the least square method to obtain the plane equation is as follows:
let the expression of the plane equation be:
ax + By + Cz + D ═ 0, (C ≠ 0), A, B, C denotes a constant;
thereby obtaining:
note the book
Then z is a0x+a1y+a2；
For n points (n) in Q sets of three-dimensional coordinate data>3, n ═ Q) is (x)i,yi,zi) I is 0,1, n; so that
Minimum;
at this time, the following requirements are met:
further obtaining:
solving the above equation set to obtain a0，a1，a2To obtain a plane equation.
Preferably, in the step of calculating the distance of the value of the Z axis in the Q sets of three-dimensional coordinate data in the Z direction to the plane represented by the plane equation, Q sets of three-dimensional coordinates are respectively calculatedData (x)1,y1,z1),(x2,y2,z2)...(xn,yn,zn) Substituting n-Q into the following equation to calculate the distance d from the Z-axis value in the three-dimensional coordinate data to the plane represented by the plane equationi，
Preferably, in the step of calculating the amount of end face deformation from said maximum distance dmax and said minimum distance dmin, the amount of end face deformation is equal to the maximum distance dmax minus said minimum distance dmin.
A hub end face deformation detection apparatus comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, performs the steps of: the hub end face deformation detection method as described in any one of the above.
The technical scheme of the invention has the following remarkable beneficial effects:
the non-contact laser measuring device is adopted to measure the outer end face of the hub, a plurality of data are selected from each group of measured data to perform linear fitting, the fitted straight line with the minimum slope in all the fitted straight lines is found out, the average value of the data under the fitted straight line is solved to serve as the numerical value of the Z axis in the three-dimensional coordinate data, so that the three-dimensional coordinate data which cannot accurately and truly reflect the deformation condition of a certain point of the end face of the hub can be removed, and the Z axis numerical value in the three-dimensional coordinate data in each group of Q groups obtained by subsequent averaging reflects the Z axis distance which is the most real and accurate of the whole end face of a certain point. And all the average values in the Q group comprise the numerical value of the Z axis in each group of three-dimensional coordinate data under the circumference of the outer end surface of the hub, the numerical value is subjected to plane fitting to obtain a fitting plane, the distance from each data to the fitting plane is calculated, and finally the deformation of the outer end surface of the hub is obtained by utilizing the difference value of the maximum distance and the minimum distance of the fitting plane. The method and the device effectively improve the detection efficiency and the test precision, and the obtained end face deformation is more reliable and closer to the objective and actual end face deformation; meanwhile, the whole detection process is stable and reliable, convenient and easy to use, and high in efficiency.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case.
FIG. 1 is a flow chart of a hub end face deformation detection method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a scanning hub of a line laser and bar code scanner in an embodiment of the present invention;
FIG. 3 is a diagram illustrating data selection according to an embodiment of the present invention;
FIG. 4 is a schematic view of a fitting straight line of measured data on the outer end face of the hub in the embodiment of the invention;
FIG. 5 is a schematic plane view of the outer end surface of the hub according to the embodiment of the present invention.
Reference numerals of the above figures:
1. a hub; 11. an outer end face; 12. a hub outer ring; 2. a bar code; 3. a bar code scanner; 4. a laser measuring device; 5. fitting a plane; 6. and Q groups of Z-axis numerical values in the three-dimensional coordinate data.
Detailed Description
The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In order to obtain accurate hub end face deformation with high reliability through a large amount of data of a hub end face measured by laser, a hub end face deformation detection method is provided in the application, fig. 1 is a flow chart of the hub end face deformation detection method in an embodiment of the present invention, and as shown in fig. 1, the hub end face deformation detection method may include:
s101: rotating the hub 1 for at least one circle, and measuring the outer end face 11 of the hub 1 to obtain M sets of three-dimensional coordinate data, wherein the M sets are multiple, each set of data comprises N data, and the Z-axis coordinate perpendicular to the side face of the hub 1 is measured by the laser measuring device 4.
In a possible implementation manner, fig. 2 is a schematic view of a line laser and barcode scanner scanning wheel hub in an embodiment of the present invention, as shown in fig. 2, the wheel hub 1 is rotated at least one circle, and the outer end surface 11 of the wheel hub 1 is uniformly measured during the rotation process to obtain M sets of three-dimensional coordinate data, where each set of data includes N data, and each set of data is data at a certain short distance. The Z-axis coordinate perpendicular to the side surface of the hub 1 is measured by the laser measuring device 4, so that the measuring precision can be ensured. Of course, the X, Y-axis coordinates in the three-dimensional coordinate data may be measured by the laser measuring device 4, or may be measured by another measuring device. For example, the rotation angle of the hub 1 may be 450 degrees, thereby ensuring that a full revolution of the hub 1 can be measured. At 450 degrees, 4500 sets of three-dimensional coordinate data may be acquired, with 10 sets acquired in turn at each degree.
In a possible embodiment, the hub 1 has an outer end face 11 and a hub outer ring 12, on which hub outer ring 12 a bar code 2 can be arranged, which is scanned by a bar code scanner 3 while the laser measuring device 4 performs data measurements during rotation of the hub 1. When the bar code scanner 3 scans the bar code, the corresponding position of the motor encoder under the bar code 2 is recorded at the moment, so that the acquired M groups of three-dimensional coordinate data correspond to different angle positions of the hub 1.
S102: and sequentially selecting P data from the N data as a group to obtain N-P +1 group data, wherein P is less than or equal to N, and performing straight line fitting on the data in each group of the N-P +1 group data to obtain a straight line with the minimum straight line slope.
In the step, P data are sequentially selected from the N data to be used as one group to obtain N-P +1 group data, P is less than or equal to N, straight line fitting can be performed on the data in each group of the N-P +1 group data by adopting a least square method to obtain a fitted straight line equation, and then a straight line with the minimum slope in the fitted straight line equation is selected.
The process of performing line fitting on the data in each group of the N-P +1 group data by adopting a least square method to obtain a fitted line equation is as follows:
let the fitted linear equation be: y ═ ax + b, (x)1,y1),(x2,y2)...(xn,yn) Wherein x is1To xnRepresenting the data of the order, y1To ynA value representing the Z-axis in the data;
(x1,y1),(x2,y2)...(xn,yn) The sum of the squared deviations of (a) is:
and respectively carrying out derivation on the a and the b to obtain the following equations:
and solving the equation to obtain specific numerical values of a and b, and further obtaining a fitted linear equation.
For example, fig. 3 is a schematic diagram of data selection in the embodiment of the present invention, as shown in fig. 3, each group of three-dimensional coordinate data may be composed of Zi (i ═ 1 … 15), 6 data are sequentially selected from Z1 to Z15 data as one group, and 10 groups (L1 … L10) are total, and each group of data is subjected to straight line fitting by a least square method to obtain 10 fitted straight lines, respectively, and fig. 4 is a schematic diagram of a straight line fitted by using measured data on an outer end surface of a hub in the embodiment of the present invention. As shown in fig. 4. Then, the line with the minimum slope of the fitted line from L1 to L10 is selected.
S103: the data of the group of lines constituting the line having the smallest slope is averaged as the Z-axis value in the group of three-dimensional coordinate data.
In a specific embodiment, for example, the Z-axis coordinate in the 6 data in the group consisting of the straight line is averaged, and the average is taken as the value of the Z-axis in the three-dimensional coordinate system of the group (three-dimensional coordinate data consisting of 15 data).
S104: and selecting a Z-axis numerical value in Q sets of three-dimensional coordinate data of the hub 1 in one circle from the M sets of three-dimensional coordinate data, wherein Q is less than or equal to M, and fitting the Z-axis numerical value 6 in the Q sets of three-dimensional coordinate data to obtain a plane equation.
In this step, when the bar code 2 is scanned, the position corresponding to the motor encoder under the bar code 2 is recorded at this moment, and the Z-axis value 6 in Q sets of three-dimensional coordinate data of one week is selected from the M sets of three-dimensional coordinate data according to the angular position of the hub 1 corresponding to the three-dimensional coordinate data. Specifically, when 4500 sets of three-dimensional coordinate data are acquired at 450 degrees, with 10 sets acquired at each degree in turn, Q may be 3600 sets of data, which includes just all the data for one rotation of the hub 1.
In a possible implementation mode, when the barcode scanner 3 finishes scanning, the corresponding position of the motor encoder under the barcode 2 is recorded at the moment, and the Z-axis value 6 in the Q sets of three-dimensional coordinate data of the previous circle of the hub 1 is selected from the M sets of three-dimensional coordinate data according to the corresponding position of the hub 1 corresponding to the angular position of the three-dimensional coordinate data at the moment when the barcode scanner 3 finishes scanning.
In a feasible implementation manner, fig. 5 is a schematic view of a plane fitted to the outer end surface of the hub in an embodiment of the present invention, and as shown in fig. 5, a specific process of fitting the Z-axis numerical value in the Q sets of three-dimensional coordinate data by using a least square method to obtain a plane equation is as follows:
let the expression of the plane equation be:
ax + By + Cz + D ═ 0, (C ≠ 0), A, B, C denotes a constant;
thereby obtaining:
note the book
Then z is a0x+a1y+a2；
For n points (n) in Q sets of three-dimensional coordinate data>3, n ═ Q) is (x)i,yi,zi) I is 0,1, n; so that
Minimum;
at this time, the following requirements are met:
further obtaining:
solving the above equation set to obtain a0，a1，a2The plane equation is obtained, and as shown in fig. 5, the fitting plane 5 is the plane represented by the plane equation.
S105: the distances in the Z direction from the values of the Z axis in the Q sets of three-dimensional coordinate data to the plane represented by the plane equation are calculated, respectively, and the maximum distance dmax and the minimum distance dmin are found therefrom.
In this step, as shown in fig. 5, in calculating the distances of the values of the Z axis in the Q sets of three-dimensional coordinate data from the plane expressed by the plane equation in the Z direction, Q sets of three-dimensional coordinate data (x) are calculated, respectively1,y1,z1),(x2,y2,z2)...(xn,yn,zn) Substituting n-Q into the following equation to calculate the distance d from the Z-axis value in the three-dimensional coordinate data to the plane represented by the plane equationi，
Then fromQ number diThe maximum distance dmax and the minimum distance dmin are obtained.
S106: and calculating the end face deformation according to the maximum distance dmax and the minimum distance dmin.
In this step, the end face deformation amounts to the maximum distance dmax minus the minimum distance dmin.
The present application also proposes a hub end face deformation detection device comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, implements the steps of: the hub end face deformation detection method as described in any one of the above.
In the application, the non-contact laser measuring device 4 is adopted to measure the outer end face of the hub, a plurality of data are selected from each group of measured data to perform linear fitting, the fitted straight line with the minimum slope in all the fitted straight lines is found out, the average value of the data under the fitted straight line is solved to serve as the numerical value of the Z axis in the three-dimensional coordinate data of the group, so that the three-dimensional coordinate data which can not accurately and truly reflect the deformation condition of a certain point of the end face of the hub can be removed, and the Z axis numerical value in the three-dimensional coordinate data in each group of Q groups obtained by subsequent averaging reflects the Z axis distance which is the truest and most accurate of the whole end face of a certain point. And all the average values in the Q group comprise the numerical value of the Z axis in each group of three-dimensional coordinate data of the outer end surface of the hub under one circle, the Z axis numerical value is subjected to plane fitting to obtain a fitting plane 5, the distance from each data to the fitting plane 5 is calculated, and finally the deformation of the outer end surface of the hub is obtained by utilizing the difference value between the maximum distance and the minimum distance of the fitting plane 5. The method and the device effectively improve the detection efficiency and the test precision, and the obtained end face deformation is more reliable and closer to the objective and actual end face deformation; meanwhile, the whole detection process is stable and reliable, convenient and easy to use, and high in efficiency.
All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional. A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A hub end face deformation detection method is characterized by comprising the following steps:
rotating the hub for at least one circle, and measuring the outer end face of the hub to obtain M groups of three-dimensional coordinate data, wherein the M groups are multiple, each group of data comprises N data, and the Z-axis coordinate perpendicular to the side face of the hub is measured by a laser measuring device;
sequentially selecting P data from the N data as a group to obtain N-P +1 group data, wherein P is less than or equal to N, and performing straight line fitting on the data in each group of the N-P +1 group data to obtain a straight line with the minimum straight line slope;
averaging data of a group of lines constituting a line having the smallest slope of the line as a value of the Z axis in the group of three-dimensional coordinate data;
selecting a Z-axis numerical value in Q sets of three-dimensional coordinate data under the condition of one circle of the hub from the M sets of three-dimensional coordinate data, wherein Q is less than or equal to M, and fitting the Z-axis numerical value in the Q sets of three-dimensional coordinate data to obtain a plane equation;
respectively calculating the distance from the numerical value of the Z axis in the Q groups of three-dimensional coordinate data to a plane represented by a plane equation in the Z direction, and finding out the maximum distance dmax and the minimum distance dmin;
and calculating the end face deformation according to the maximum distance dmax and the minimum distance dmin.
2. The hub end face deformation detection method according to claim 1, wherein in the step of performing straight line fitting on the data in each group of the N-P +1 group of data to obtain the straight line with the minimum slope, the data in each group of the N-P +1 group of data is subjected to straight line fitting by using a least square method to obtain a fitted straight line equation, and then the straight line with the minimum slope in the fitted straight line equation is selected.
3. The hub end face deformation detection method according to claim 2, wherein the process of performing line fitting on data in each group of the N-P +1 group data by using a least square method to obtain a fitted line equation is as follows:
let the fitted linear equation be: y ═ ax + b, (x)1,y1),(x2,y2)...(xn,yn) Wherein x is1To xnRepresenting the data of the order, y1To ynA value representing the Z-axis in the data;
(x1,y1),(x2,y2)...(xn,yn) The sum of the squared deviations of (a) is:
and respectively carrying out derivation on the a and the b to obtain the following equations:
and solving the equation to obtain specific numerical values of a and b, and further obtaining a fitted linear equation.
4. The hub end face deformation detection method according to claim 1, wherein in the step of selecting the Z-axis numerical value in the Q sets of three-dimensional coordinate data of one circle of the hub from the M sets of three-dimensional coordinate data, the following are specifically selected:
a bar code is arranged on the outer ring of the hub, and the bar code can be scanned by a bar code scanner when the laser measuring device measures data in the rotating process of the hub; when the bar code scanner scans the codes, the corresponding position of the motor encoder under the bar code is recorded at the moment, and the Z-axis numerical value in Q groups of three-dimensional coordinate data of one week is selected from M groups of three-dimensional coordinate data according to the angle position of the hub corresponding to the three-dimensional coordinate data.
5. The hub end face deformation detection method according to claim 4, wherein a plurality of bar codes are arranged on the hub outer ring along a preset length in the circumferential direction; when the hub rotates for at least one week, when the barcode scanner finishes scanning, the corresponding position of the motor encoder under the barcode is recorded at the moment, and the Z-axis numerical value of the hub in the Q groups of three-dimensional coordinate data of the previous week is selected from the M groups of three-dimensional coordinate data according to the angular position of the hub corresponding to the three-dimensional coordinate data and the corresponding position when the barcode scanner finishes scanning.
6. The hub end face deformation detection method according to claim 1, wherein in the step of fitting the Z-axis values in the Q sets of three-dimensional coordinate data to obtain the plane equation, the Z-axis values in the Q sets of three-dimensional coordinate data are fitted by using a least square method to obtain the plane equation.
7. The hub end face deformation detection method according to claim 6, wherein the specific process of fitting the numerical values of the Z axis in the Q sets of three-dimensional coordinate data by using the least square method to obtain the plane equation is as follows:
let the expression of the plane equation be:
ax + By + Cz + D ═ 0, where C ≠ 0, A, B, C denotes a constant;
thereby obtaining:
note the book
Then z is a0x+a1y+a2；
For n points in the Q sets of three-dimensional coordinate data, the point is marked as (x)i,yi,zi) N, where n is 0,1>3, n ═ Q; so that
Minimum;
at this time, the following requirements are met:
further obtaining:
solving the above equation set to obtain a0，a1，a2To obtain a plane equation.
8. Wheel according to claim 7The hub end face deformation detecting method is characterized in that in the step of respectively calculating the distances from the Z-axis numerical value in the Q sets of three-dimensional coordinate data to the plane represented by the plane equation in the Z direction, the Q sets of three-dimensional coordinate data (x) are respectively calculated1,y1,z1),(x2,y2,z2)...(xn,yn,zn) Substituting n-Q into the following equation to calculate the distance d from the Z-axis value in the three-dimensional coordinate data to the plane represented by the plane equationi，
9. The hub end face deformation detecting method according to claim 1, wherein in the step of calculating the end face deformation based on the maximum distance dmax and the minimum distance dmin, the end face deformation is equal to the maximum distance dmax minus the minimum distance dmin.
10. A hub end face deformation detection device comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, performs the steps of: the hub end face deformation detecting method according to any one of claims 1 to 9.
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| CN112577432A (en) * | 2020-10-16 | 2021-03-30 | 深圳精匠云创科技有限公司 | Automatic hub size measuring method and device |
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